// This file is part of MatrixPilot.
//
//    http://code.google.com/p/gentlenav/
//
// Copyright 2009, 2010 MatrixPilot Team
// See the AUTHORS.TXT file for a list of authors of MatrixPilot.
//
// MatrixPilot is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MatrixPilot is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MatrixPilot.  If not, see <http://www.gnu.org/licenses/>.


////////////////////////////////////////////////////////////////////////////////
// options.h
// Bill Premerlani's UAV Dev Board
// 
// This file includes all of the user-configuration for this firmware,
// with the exception of waypoints, which live in the waypoints.h file.
// 


////////////////////////////////////////////////////////////////////////////////
// Set Up Board Type (Set to RED_BOARD, GREEN_BOARD, UDB3_BOARD, RUSTYS_BOARD, or UDB4_BOARD)
// If building for UDB4, use the MatrixPilot-udb4.mcp project file.
#define BOARD_TYPE 							UDB3_BOARD


////////////////////////////////////////////////////////////////////////////////
// Use board orientation to change the mounting direction of the board.
// The following 4 orientations have the board parallel with the ground.
// ORIENTATION_FORWARDS:  Component-side up,   GPS connector front
// ORIENTATION_BACKWARDS: Component-side up,   GPS connector back
// ORIENTATION_INVERTED:  Component-side down, GPS connector front
// ORIENTATION_FLIPPED:   Component-side down, GPS connector back
// The following 2 orientations are "knife edge" mountings
// ORIENTATION_ROLLCW: Rick's picture #9, board rolled 90 degrees clockwise,
//		from point of view of the pilot
// ORIENTATION_ROLLCW180: Rick's pitcure #11, board rolled 90 degrees clockwise,
//		from point of view of the pilot, then rotate the board 180 around the Z axis of the plane,
//		so that the GPS connector points toward the tail of the plane
#define BOARD_ORIENTATION					ORIENTATION_FORWARDS


////////////////////////////////////////////////////////////////////////////////
// Choose your airframe type:
//    AIRFRAME_STANDARD		 	Elevator, and Ailerons and/or Rudder control
//    AIRFRAME_VTAIL			Ailerons(optional), and Elevator and Rudder as V-tail controls
//    AIRFRAME_DELTA			Aileron and Elevator as Elevons, and Rudder(optional)
// (Note that although AIRFRAME_HELI is also recognized, the code for this airframe type is not ready.)
#define AIRFRAME_TYPE						AIRFRAME_STANDARD


////////////////////////////////////////////////////////////////////////////////
// Set this value to your GPS type.  (Set to GPS_STD, GPS_UBX_2HZ, or GPS_UBX_4HZ)
#define GPS_TYPE							GPS_UBX_4HZ


////////////////////////////////////////////////////////////////////////////////
// Enable/Disable core features of this firmware
//
// Roll, Pitch, and Yaw Stabilization
// Set any of these to 0 to disable the stabilization in that axis.
#define ROLL_STABILIZATION_AILERONS			1
#define ROLL_STABILIZATION_RUDDER			0
#define PITCH_STABILIZATION					1
#define YAW_STABILIZATION_RUDDER			1
#define YAW_STABILIZATION_AILERON			1

// Aileron and Rudder Navigation
// Set either of these to 0 to disable use of that control surface for navigation.
#define AILERON_NAVIGATION					1
#define RUDDER_NAVIGATION					1

// Altitude Hold
// Use altitude hold in stabilized mode?  In waypoint mode?
// Each of these settings can be AH_NONE, AH_FULL, or AH_PITCH_ONLY
#define ALTITUDEHOLD_STABILIZED				AH_FULL
#define ALTITUDEHOLD_WAYPOINT				AH_FULL

// Inverted flight
// Set these to 1 to enable stabilization of inverted flight in stabilized and/or waypoint modes.
#define INVERTED_FLIGHT_STABILIZED_MODE		0
#define INVERTED_FLIGHT_WAYPOINT_MODE		0

// Hovering
// Set these to 1 to enable stabilization of hovering in stabilized and/or waypoint modes.
#define HOVERING_STABILIZED_MODE			0
#define HOVERING_WAYPOINT_MODE				0

// Dead reckoning
// Use DEADRECKONING to select the dead reckoning option.
// DEADRECKONING 0 selects the GPS to perform navigation, at the GPS update rate.
// DEADRECKONING 1 selects the dead reckoning computations to perform navigation, at 40 Hz.
#define DEADRECKONING						1

// Wind Estimation and Navigation
// Set this to 1 to use automatic wind estimation and navigation. 
// Wind estimation is done using a mathematical model developed by William Premerlani.
// Every time the plane performs a significant turn, the plane estimates the wind.
// This facility only requires a working GPS and the UAV DevBoard. 
#define WIND_ESTIMATION						1

// Camera Stabilization
// Set this value to 1, for camera to be stabilized using camera options further below.
#define USE_CAMERA_STABILIZATION			1

// Define MAG_YAW_DRIFT to be 1 to use magnetometer for yaw drift correction.
// Otherwise, if set to 0 the GPS will be used.
#define MAG_YAW_DRIFT 						0

// Racing Mode
// Setting RACING_MODE to 1 will keep the plane at a set throttle value while in waypoint mode.
// RACING_MODE_WP_THROTTLE is the throttle value to use, and should be set between 0.0 and 1.0.
// Racing performance can be improved by disabling CROSSTRACKING in waypoints.h.
#define RACING_MODE							0
#define RACING_MODE_WP_THROTTLE				1.0



////////////////////////////////////////////////////////////////////////////////
// Configure Input and Output Channels
//
// Use a single PPM input connection from the RC receiver to the UDB on RC input channel 4.
// This frees up RC inputs 3, 2, and 1 to act as RC outputs 4, 5, and 6.
// If you're not sure, leave USE_PPM_INPUT set to 0.
// PPM_NUMBER_OF_CHANNELS is the number of channels sent on the PWM signal.  This is
// often different from the NUM_INPUTS value below, and should usually be left at 8.
// If PPM_ALT_OUTPUT_PINS is set to 0, the 9 available RC outputs will be sent to the
// following pins, in this order: Out1, Out2, Out3, In3, In2, In1, RE0, RE2, RE4.
// With it set to 1, the RC outputs will be in this alternate configuration:
// Out1, Out2, Out3, RE0, RE2, RE4, In3, In2, In1.
#define USE_PPM_INPUT						1
#define PPM_NUMBER_OF_CHANNELS				8
#define PPM_ALT_OUTPUT_PINS					0

// NUM_INPUTS: Set to 1-5 (or 1-8 when using PPM input)
//   1-4 enables only the first 1-4 of the 4 standard input channels
//   5 also enables E8 as the 5th input channel
#define NUM_INPUTS							8

// Channel numbers for each input.
// Use as is, or edit to match your setup.
//   - If you're set up to use Rudder Navigation (like MatrixNav), then you may want to swap
//     the aileron and rudder channels so that rudder is CHANNEL_1, and aileron is 5.
#define THROTTLE_INPUT_CHANNEL				CHANNEL_3
#define AILERON_INPUT_CHANNEL				CHANNEL_1
#define ELEVATOR_INPUT_CHANNEL				CHANNEL_2
#define RUDDER_INPUT_CHANNEL				CHANNEL_4
#define MODE_SWITCH_INPUT_CHANNEL			CHANNEL_5
#define CAMERA_PITCH_INPUT_CHANNEL			CHANNEL_7
#define CAMERA_YAW_INPUT_CHANNEL			CHANNEL_8
#define OSD_MODE_SWITCH_INPUT_CHANNEL		CHANNEL_UNUSED
#define PASSTHROUGH_A_INPUT_CHANNEL			CHANNEL_5
#define PASSTHROUGH_B_INPUT_CHANNEL			CHANNEL_6
#define PASSTHROUGH_C_INPUT_CHANNEL			CHANNEL_UNUSED
#define PASSTHROUGH_D_INPUT_CHANNEL			CHANNEL_UNUSED

// NUM_OUTPUTS: Set to 3, 4, 5, or 6
//   3 enables only the standard 3 output channels
//   4 also enables E0 as the 4th output channel
//   5 also enables E2 as the 5th output channel
//   6 also enables E4 as the 6th output channel
//   NOTE: If USE_PPM_INPUT is enabled above, up to 9 outputs are available.)
#define NUM_OUTPUTS							8

// Channel numbers for each output
// Use as is, or edit to match your setup.
//   - Only assign each channel to one output purpose
//   - If you don't want to use an output channel, set it to CHANNEL_UNUSED
//   - If you're set up to use Rudder Navigation (like MatrixNav), then you may want to swap
//     the aileron and runner channels so that rudder is CHANNEL_1, and aileron is 5.
// 
// NOTE: If your board is powered from your ESC through the throttle cable, make sure to
// connect THROTTLE_OUTPUT_CHANNEL to one of the built-in Outputs (1, 2, or 3) to make
// sure your board gets power.
// 
#define THROTTLE_OUTPUT_CHANNEL				CHANNEL_3
#define AILERON_OUTPUT_CHANNEL				CHANNEL_1
#define ELEVATOR_OUTPUT_CHANNEL				CHANNEL_2
#define RUDDER_OUTPUT_CHANNEL				CHANNEL_4
#define AILERON_SECONDARY_OUTPUT_CHANNEL	CHANNEL_1
#define CAMERA_PITCH_OUTPUT_CHANNEL			CHANNEL_7
#define CAMERA_YAW_OUTPUT_CHANNEL			CHANNEL_8
#define TRIGGER_OUTPUT_CHANNEL				CHANNEL_UNUSED
#define PASSTHROUGH_A_OUTPUT_CHANNEL		CHANNEL_5
#define PASSTHROUGH_B_OUTPUT_CHANNEL		CHANNEL_6
#define PASSTHROUGH_C_OUTPUT_CHANNEL		CHANNEL_UNUSED
#define PASSTHROUGH_D_OUTPUT_CHANNEL		CHANNEL_UNUSED


////////////////////////////////////////////////////////////////////////////////
// Servo Reversing Configuration
// Here you can choose which reversing switches use hardware switches, and hard code the rest.
// Note that your servo reversing settings here should match what you set on your transmitter.
// For any of these that evaluate to 1 (either hardcoded or by flipping a switch on the board,
// as you define below), that servo will be sent reversed controls.
#define AILERON_CHANNEL_REVERSED			1
#define ELEVATOR_CHANNEL_REVERSED			1
#define RUDDER_CHANNEL_REVERSED				1
#define AILERON_SECONDARY_CHANNEL_REVERSED	0 // Hardcoded to be unreversed, since we have only 3 switches.
#define THROTTLE_CHANNEL_REVERSED			0 // Set to 1 to hardcode a channel to be reversed
#define CAMERA_ROLL_CHANNEL_REVERSED		0
#define CAMERA_PITCH_CHANNEL_REVERSED		HW_SWITCH_1
#define CAMERA_YAW_CHANNEL_REVERSED			HW_SWITCH_2

// Set this to 1 if you need to switch the left and right elevon or vtail surfaces
#define ELEVON_VTAIL_SURFACES_REVERSED		0


////////////////////////////////////////////////////////////////////////////////
// Mode Switch is ideally controlled by a 3-position switch on your transmitter.
// Often the Flap channel will be controlled by a 3-position switch.
// These are the thresholds for the cutoffs between low and middle, and between middle and high.
// Normal signals should fall within about 2000 - 4000.
#define MODE_SWITCH_THRESHOLD_LOW			2600
#define MODE_SWITCH_THRESHOLD_HIGH			3400


////////////////////////////////////////////////////////////////////////////////
// The Failsafe Channel is the RX channel that is monitored for loss of signal
// Make sure this is set to a channel you actually have plugged into the UAV Dev Board!
// 
// For a receiver that remembers a failsafe value for when it loses the transmitter signal,
// like the Spektrum AR6100, you can program the receiver's failsafe value to a value below
// the normal low value for that channel.  Then set the FAILSAFE_INPUT_MIN value to a value
// between the receiver's programmed failsafe value and the transmitter's normal lowest
// value for that channel.  This way the firmware can detect the difference between a normal
// signal, and a lost transmitter.
//
// FAILSAFE_INPUT_MIN and _MAX define the range within which we consider the radio on.
// Normal signals should fall within about 2000 - 4000.
#define FAILSAFE_INPUT_CHANNEL				THROTTLE_INPUT_CHANNEL
#define FAILSAFE_INPUT_MIN					1900
#define FAILSAFE_INPUT_MAX					4500

// FAILSAFE_TYPE controls the UDB's behavior when in failsafe mode due to loss of transmitter
// signal.  (Set to FAILSAFE_RTL or FAILSAFE_MAIN_FLIGHTPLAN.)
// 
// When using FAILSAFE_RTL (Return To Launch), the UDB will begin following the RTL flight plan
// as defined near the bottom of the waypoints.h or flightplan-logo.h files.  By default, this
// is set to return to a point above the location where the UDB was powered up, and to loiter there.
// See the waypoints.h or flightplan-logo.h files for info on modifying this behavior.
// 
// When set to FAILSAFE_MAIN_FLIGHTPLAN, the UDB will instead follow the main flight plan as
// defined in either waypoints.h or flightplan-logo.h.  If the UDB was already in waypoint mode
// when it lost signal, the plane will just continue following the main flight plan without
// starting them over.  And if the transmitter is still in waypoint mode when the UDB sees it
// again, the UDB will still continue following the main flight plan without restarting.  If
// the UDB loses signal while not in waypoint mode, it will start the main flight plan from the
// beginning.
#define FAILSAFE_TYPE						FAILSAFE_MAIN_FLIGHTPLAN

//When FAILSAFE_HOLD is set to 1, then once Failsafe has engaged, and you have subsequently
// regained your RC TX-RX connection, you will need to manually change the Mode Switch in order
// to exit Failsafe mode.  This avoids the situation where your plane flies in and out of range,
// and keeps switching into and out of Failsafe mode, which depending on your configuration,
// could be confusing and/or dangerous.
#define FAILSAFE_HOLD						1

////////////////////////////////////////////////////////////////////////////////
// Serial Output Format (Can be SERIAL_NONE, SERIAL_DEBUG, SERIAL_ARDUSTATION, SERIAL_UDB,
// SERIAL_UDB_EXTRA, or SERIAL_OSD_REMZIBI)
// This determines the format of the output sent out the spare serial port.
// Note that SERIAL_OSD_REMZIBI only works with GPS_UBX.
// SERIAL_UDB_EXTRA will add additional telemetry fields to those of SERIAL_UDB.
// SERIAL_UDB_EXTRA can be used with the OpenLog without characters being dropped.
// SERIAL_UDB_EXTRA may result in dropped characters if used with the XBEE wireless transmitter.
//#define SERIAL_OUTPUT_FORMAT				SERIAL_NONE
//#define SERIAL_OUTPUT_FORMAT				SERIAL_DEBUG
//#define SERIAL_OUTPUT_FORMAT				SERIAL_MAVLINK
//#define SERIAL_OUTPUT_FORMAT				SERIAL_ARDUSTATION
//#define SERIAL_OUTPUT_FORMAT				SERIAL_UDB
#define SERIAL_OUTPUT_FORMAT				SERIAL_UDB_EXTRA

////////////////////////////////////////////////////////////////////////////////
// On Screen Display
// OSD_VIDEO_FORMAT can be set to either OSD_NTSC, or OSD_PAL
#define USE_OSD								0
#define OSD_VIDEO_FORMAT					OSD_PAL
#define OSD_SHOW_HORIZON					0
#define OSD_CALL_SIGN						{0x95, 0x8B, 0x81, 0x8C, 0x8D, 0x8E, 0xFF} // KA1BCD


////////////////////////////////////////////////////////////////////////////////
// Trigger Action
// Use the trigger to do things like drop an item at a certain waypoint, or take a photo every
// N seconds during certain waypoint legs.

// TRIGGER_TYPE can be set to TRIGGER_TYPE_NONE, TRIGGER_TYPE_SERVO, or TRIGGER_TYPE_DIGITAL.
// If using TRIGGER_TYPE_SERVO, set the TRIGGER_OUTPUT_CHANNEL above to choose which output channel
// receives trigger events, and set the TRIGGER_SERVO_LOW and TRIGGER_SERVO_HIGH values below.
// If using TRIGGER_TYPE_DIGITAL, the trigger will be on pin RE4.  In this case make sure to set
// NUM_OUTPUTS to be less than 6 to avoid a conflict between digital output and servo output on
// that pin.

// TRIGGER_ACTION can be: TRIGGER_PULSE_HIGH, TRIGGER_PULSE_LOW, TRIGGER_TOGGLE, or TRIGGER_REPEATING
// The trigger action output is always either low or high.  In servo mode, low and high are servo
// values set below.  In digital mode, low and high are 0V and 5V on pin RE4.
// The action is triggered when starting on a waypoint leg that includes the F_TRIGGER flag (see the
// waypoints.h file).
// If set to TRIGGER_PULSE_HIGH or TRIGGER_PULSE_LOW, then the output will pulse high or low for the
// number of milliseconds set by TRIGGER_PULSE_DURATION.
// If set to TRIGGER_TOGGLE, the output will just switch from high to low, or low to high each time
// the action is triggered.
// If set to TRIGGER_REPEATING, then during any waypoint leg with F_TRIGGER set, high pulses will be
// sent every TRIGGER_REPEAT_PERIOD milliseconds.

// Note, durations in milliseconds are rounded down to the nearest 25ms.

#define TRIGGER_TYPE						TRIGGER_TYPE_NONE
#define TRIGGER_ACTION						TRIGGER_PULSE_HIGH
#define TRIGGER_SERVO_LOW					2000
#define TRIGGER_SERVO_HIGH					4000
#define TRIGGER_PULSE_DURATION				250
#define TRIGGER_REPEAT_PERIOD				4000


////////////////////////////////////////////////////////////////////////////////
// Control gains.
// All gains should be positive real numbers.

// SERVOSAT limits servo throw by controlling pulse width saturation.
// set it to 1.0 if you want full servo throw, otherwise set it to the portion that you want
#define SERVOSAT							1.0

/*
ROLLKP ? This is the proportional feedback for the aileron control of roll. Setting it higher will
improve precision of the bank leveling, but will reduce the bank angle and will make the turning radius
get larger. Setting it too high may cause low frequency roll flutter that is annoying but not dangerous.
Setting it lower will increase the bank angle and sharpen the turns, particularly during RTL.
Typical value is 0.25.

ROLLKD ? This is the derivative (gyro) feedback for the aileron control of roll.
It is used to improve the damping of the roll control, to dampen any low frequency flutter.
But if it is set too high, there may be a high frequency flutter that is annoying but not dangerous.
Typical value is 0.125. This gain does not have to be greater than or equal to ROLLKP,
you can use any value that you want.

YAWKP_AILERON ? This is the proportional turning gain used by navigation for controlling ailerons.
Typical value is 0.1. Larger values will produce tighter turns. Using a value that is too large will 
produce a ?dutch roll?. Maximum valid value is 1.999.

YAWKD_AILERON ? This is the derivative yaw gain used for yaw damping by yaw stabilization to reduce
the impact of the wind, and to help stabilize the yaw control. Typical value is 0.2.
Maximum valid value is 0.5.

AILERON_BOOST ? This is an amplification, or ?boost? factor for manual control of the ailerons, used
during stabilized and waypoint modes to restore control authority to the ailerons in the face of the
damping effect of stabilization. Typical value is 1.0. This factor is in addition to the manual control,
so a value of PITCHBOOST of 0 turns the boost off, and provides unmodified response to manual control.
A PITCHBOOST of 1 makes the elevator response to manual control approximately twice as great.
Maximum valid value is 1.999. */

// Aileron/Roll Control Gains
// ROLLKP is the proportional gain, approximately 0.25
// ROLLKD is the derivative (gyro) gain, approximately 0.125
// YAWKP_AILERON is the proportional feedback gain for ailerons in response to yaw error
// YAWKD_AILERON is the derivative feedback gain for ailerons in response to yaw rotation
// AILERON_BOOST is the additional gain multiplier for the manually commanded aileron deflection
#define ROLLKP								0.16	//0.25
#define ROLLKD								0.150	//0.125
#define YAWKP_AILERON						0.125	//0.100
#define YAWKD_AILERON						0.2
#define AILERON_BOOST						1.0

/*
PITCHGAIN ? This is the proportional feedback for the elevator control of pitch. Setting it higher will
improve precision of the pitch leveling. If you set it too high, it may cause pitch flutter, but it is
not dangerous, just annoying. Typical value is 0.250. Maximum valid value is 1.999.

PITCHKD ? This is the pitch rate (measured in the earth coordinate system!) damping feedback for
the elevator. Typical value is 0.25. Maximum valid value is (0.50*SCALEGYRO).

RUDDER_ELEV_MIX ? This is the amount of rudder-elevator mixing that you want. Typical value is 0.5.
Set this parameter to 0 if you do not want to use this mixing. Maximum valid value is 1.999.

ROLL_ELEV_MIX ? This is the amount of roll-elevator mixing that you want. Typical value is 0.1.
Set this parameter to 0 if you do not want to use this mixing. Maximum valid value is 1.999.

ELEVATOR_BOOST ? This is an amplification, or ?boost? factor for manual control of the elevator, used
during stabilized mode to restore control authority to the elevator in the face of the damping effect
of stabilization. Typical value is 0.5. This factor is in addition to the manual control, so a value
of ELEVATOR_BOOST of 0 turns the boost off, and provides unmodified response to manual control.
A ELEVATOR_BOOST of 1 makes the elevator response to manual control approximately twice as great.
Maximum valid value is 1.999. */

// Elevator/Pitch Control Gains
// PITCHGAIN is the pitch stabilization gain, typically around 0.125
// PITCHKD feedback gain for pitch damping, around 0.0625
// RUDDER_ELEV_MIX is the degree of elevator adjustment for rudder and banking
// AILERON_ELEV_MIX is the degree of elevator adjustment for aileron
// ELEVATOR_BOOST is the additional gain multiplier for the manually commanded elevator deflection
#define PITCHGAIN							0.150
#define PITCHKD								0.0625
#define RUDDER_ELEV_MIX						0.5
#define ROLL_ELEV_MIX						0.1 //0.5
#define ELEVATOR_BOOST						0.5

// Neutral pitch angle of the plane (in degrees) when flying inverted
// Use this to add extra "up" elevator while the plane is inverted, to avoid losing altitude.
#define INVERTED_NEUTRAL_PITCH	 			12.0 //8.0

/*
YAWKP_RUDDER ? This is the turning gain used by RTL for using the rudder to make a turn.
Typical value is 0.1. Larger values will produce tighter turns. Using a value that is too large will
produce a ?dutch roll?. Maximum valid value is 1.999.

YAWKD_RUDDER ? This is a yaw damping term used both by stabilization and RTL to reduce the impact of
the wind, and to help stabilize the yaw control. Typical value is 0.2. Maximum valid value is 0.5.

MANUAL_AILERON_RUDDER_MIX - This can be used to improve the responsiveness of manually commanded
aileron-based turns while in stabilized mode. It's there to inhibit the rudder's tendency to fight
a turn while in stabilized mode.

RUDDER_BOOST ? This is an amplification, or ?boost? factor for manual control of the rudder, used
during stabilized mode to restore control authority to the rudder in the face of the damping effect
of stabilization. Typical value is 1.0. This factor is in addition to the manual control, so a value
of RUDDER_BOOST of 0 turns the boost off, and provides unmodified response to manual control.
A RUDDER_BOOST of 1 makes the rudder response to manual control approximately twice as great.
Maximum valid value is 1.999. */

// Rudder/Yaw Control Gains
// YAWKP_RUDDER is the proportional feedback gain for rudder navigation
// YAWKD_RUDDER is the yaw gyro feedback gain for the rudder in reponse to yaw rotation
// ROLLKP_RUDDER is the feedback gain for the rudder in response to the current roll angle
// MANUAL_AILERON_RUDDER_MIX is the fraction of manual aileron control to mix into the rudder when
// in stabilized or waypoint mode.  This mainly helps aileron-initiated turning while in stabilized.
// RUDDER_BOOST is the additional gain multiplier for the manually commanded rudder deflection
#define YAWKP_RUDDER						0.0625 
#define YAWKD_RUDDER						0.2		//0.5
#define ROLLKP_RUDDER						0.0625
#define MANUAL_AILERON_RUDDER_MIX			0.20	//0.60
#define RUDDER_BOOST						1.0

// Gains for Hovering
// Gains are named based on plane's frame of reference (roll means ailerons)
// HOVER_ROLLKP is the roll-proportional feedback gain applied to the ailerons while navigating a hover
// HOVER_ROLLKD is the roll gyro feedback gain applied to ailerons while stabilizing a hover
// HOVER_PITCHGAIN is the pitch-proportional feedback gain applied to the elevator while stabilizing a hover
// HOVER_PITCHKD is the pitch gyro feedback gain applied to elevator while stabilizing a hover
// HOVER_PITCH_OFFSET is the neutral pitch angle for the plane (in degrees) while stabilizing a hover
// HOVER_YAWKP is the yaw-proportional feedback gain applied to the rudder while stabilizing a hover
// HOVER_YAWKD is the yaw gyro feedback gain applied to rudder while stabilizing a hover
// HOVER_YAW_OFFSET is the neutral yaw angle for the plane (in degrees) while stabilizing a hover
// HOVER_PITCH_TOWARDS_WP is the max angle in degrees to pitch the nose down towards the WP while navigating
// HOVER_NAV_MAX_PITCH_RADIUS is the radius around a waypoint in meters, within which the HOVER_PITCH_TOWARDS_WP
//                            value is proportionally scaled down.
#define HOVER_ROLLKP						0.05
#define HOVER_ROLLKD						0.05
#define HOVER_PITCHGAIN						0.2
#define HOVER_PITCHKD						0.25
#define HOVER_PITCH_OFFSET					0.0		// + leans towards top, - leans towards bottom
#define HOVER_YAWKP							0.2
#define HOVER_YAWKD							0.25
#define HOVER_YAW_OFFSET					0.0
#define HOVER_PITCH_TOWARDS_WP			   30.0
#define HOVER_NAV_MAX_PITCH_RADIUS		   20


////////////////////////////////////////////////////////////////////////////////
// Camera Stabilization and Targeting
// 
// In Manual Mode the camera is fixed straight ahead.
// In Stabilized Mode, the camera stabilizes in the pitch axis but stabilizes a constant yaw
// relative to the plane's frame of reference.
// In Waypoint Mode, the direction of the camera is driven from a flight camera plan in waypoints.h
// In all three flight modes, if you set CAMERA_*_INPUT_CHANNEL then the transmitter camera controls
// will override the camera stabilisation. This allows a pilot to override the camera stabilization dynamically
// during flight and point the camera at a specific target of interest.
// 
// To save cpu cycles, you will need to pre-compute the tangent of the desired pitch of the camera
// when in stabilized mode. This should be expressed in 2:14 format. 
// Example: You require the camera to be pitched down by 15 degrees from the horizon in stabilized mode.
// Paste the following line into a google search box (without the //)
// tan((( 15 /180 )* 3.1416 ))* 16384
// The result, as an integer, will be 4390. Change the angle, 15, for whatever angle you would like.
// Note that CAM_TAN_PITCH_IN_STABILIZED_MODE should not exceed 32767 (integer overflows to negative).

#define CAM_TAN_PITCH_IN_STABILIZED_MODE   1433	// 1443 is 5 degrees of pitch. Example: 15 degrees is 4389
#define CAM_YAW_IN_STABILIZED_MODE			  0 // in degrees relative to the plane's yaw axis.    Example: 0

// Camera values to set at installation of camera servos
// All number should be integers
#define CAM_PITCH_SERVO_THROW				80	// Camera lens rotation at maximum PWM change (2000 to 4000), in degrees.          
#define CAM_PITCH_SERVO_MAX					80	// Max pitch up that plane can tilt and keep camera level, in degrees.  
#define CAM_PITCH_SERVO_MIN					-30 // Max pitch down that plane can tilt and keep camera level, in degrees. 
#define CAM_PITCH_OFFSET_CENTRED			5	// Offset in degrees of servo that results in a level camera.           
											    // Example: 30 would mean that a centered pitch servo points the camera
												// 30 degrees down from horizontal when looking to the front of the plane.

#define CAM_YAW_SERVO_THROW				    80	// Camera yaw movement for maximum yaw PWM change (2000 to 4000) in Degrees. 
#define CAM_YAW_SERVO_MAX				    40 // Max positive yaw of camera relative to front of plane in Degrees. 		     
#define CAM_YAW_SERVO_MIN				   -40 // Min reverse  yaw of camera relative to front of plane in Degrees.   
#define CAM_YAW_OFFSET_CENTRED				 0	// Yaw offset in degrees that results in camera pointing forward. 

// Camera test mode will move the yaw from + 90 degrees to + 90 degrees every 5 seconds. (180 degree turn around)
// That will show whether the CAM_PITCH_SERVO_THROW value is set correctly for your servo.
// Once the camera rotates correctly through 180 degrees, then you can adjust CAM_PITCH_OFFSET_CENTRED to center the camera.
// In Camera test mode, pitch angle changes permanently to 90 degrees down in stabilized mode, and  0 (level) in Manual Mode.

#define CAM_TESTING_OVERIDE				      0 // Set to 1 for camera to move to test angles in stabilized mode.
#define CAM_TESTING_YAW_ANGLE			 	 90 // e.g. 90 degrees. Will try to swing 90 degrees left, then 90 degrees right
#define CAM_TESTING_PITCH_ANGLE				 90 // In degrees.

////////////////////////////////////////////////////////////////////////////////
// Configure altitude hold
// These settings are only used when Altitude Hold is enabled above.

/*
Altitude Hold
These settings are only used when Altitude Hold is enabled above.
HEIGHT_TARGET_MIN - This is the minimum target height, in meters, used in stabilized mode.
HEIGHT_TARGET_MAX ? This is the maximum target height, in meters, above the launch point. Typical value is 100.
The commanded height for altitude hold is proportional to the throttle, up to this maximum height. Altitude hold will
command full throttle until the plane is within 50 meters of the commanded height. It will gradually reduce throttle as
it climbs higher. It will reduce to minimum throttle at the commanded height. If it continues to climb higher, the motor
will be cut off completely.*/

// Min and Max target heights in meters.  These only apply to stabilized mode.
#define HEIGHT_TARGET_MIN					50.0		//25.0
#define HEIGHT_TARGET_MAX					1500.0	//100.0

//HEIGHT_MARGIN - The vertical range, in meters, to try to keep the plane within when altitude hold is enabled.

// The range of altitude within which to linearly vary the throttle
// and pitch to maintain altitude.  A bigger value makes altitude hold
// smoother, and is suggested for very fast planes.
#define HEIGHT_MARGIN						25	//10

/*
ALT_HOLD_THROTTLE_MIN ? This parameter sets a value for the minimum amount of throttle during altitude hold. Typical value is 0.55,
define a value between 0.0 and 1.0 
ALT_HOLD_THROTTLE_MAX ? This parameter sets a value for the maximum amount of throttle during altitude hold. Typical value is 1.0,
define a value between 0.0 and 1.0 */

// Use ALT_HOLD_THROTTLE_MAX when below HEIGHT_MARGIN of the target height.
// Interpolate between ALT_HOLD_THROTTLE_MAX and ALT_HOLD_THROTTLE_MIN
// when within HEIGHT_MARGIN of the target height.
// Use ALT_HOLD_THROTTLE_MIN when above HEIGHT_MARGIN of the target height.
// Throttle values are from 0.0 - 1.0.
#define ALT_HOLD_THROTTLE_MIN				0.0	//0.35
#define ALT_HOLD_THROTTLE_MAX				1.0

/*
ALT_HOLD_PITCH_MIN ? This is the pitch angle, in degrees, that the control will attempt to hold the plane?s pitch, at minimum throttle.
The suggested value for this parameter for a sailplane is 0. If you want the altitude hold feature to maintain altitude without turning
off the motor, select a slightly negative value for this parameter, such as -2. If you do not want to use this feature, set it to 0.
Otherwise, set it the pitch angle that you would normally control the plane at minimum throttle. Positive values means the nose points
upward, negative values means the nose pitches downward. 

ALT_HOLD_PITCH_MAX ? This is the pitch angle, in degrees, that the control will attempt to hold the plane?s pitch, at MAXIMUM throttle.
The suggested value for this parameter is 10. Otherwise, set the pitch angle that you would normally control the plane at maximum
throttle. Positive values means the nose points upward, negative values means the nose pitches downward.

ALT_HOLD_PITCH_HIGH ? This is the pitch angle, in degrees, that the control will attempt to hold the plane?s pitch, at ZERO throttle.
In other words, this is the pitch angle that you want when your sailplane is gliding, or when your plane is flying ?dead stick?.
The suggested value for this parameter is 0. If you do not want to use this feature, set it to 0. Otherwise, set it to the pitch angle
that you would normally control the plane at zero throttle. Positive values means the nose points upward, negative values means the
nose pitches downward. */

// Use ALT_HOLD_PITCH_MAX when below HEIGHT_MARGIN of the target height.
// Interpolate between ALT_HOLD_PITCH_MAX and ALT_HOLD_PITCH_MIN when
// within HEIGHT_MARGIN of the target height.
// Use ALT_HOLD_PITCH_HIGH when above HEIGHT_MARGIN of the target height.
// Pitch values are in degrees.  Negative values pitch the plane down.
#define ALT_HOLD_PITCH_MIN					-25.0	//-15
#define ALT_HOLD_PITCH_MAX					 25.0	//15
#define ALT_HOLD_PITCH_HIGH					-25.0	//-15

////////////////////////////////////////////////////////////////////////////////
// Return To Launch Pitch Down in degrees, a real number.
// this is the real angle in degrees that the nose of the plane will pitch downward during a return to launch.
// it is used to increase speed (and wind penetration) during a return to launch.
// set it to zero if you do not want to use this feature.
// This only takes effect when entering RTL mode, which only happens when the plane loses the transmitter signal.
#define RTL_PITCH_DOWN						0.0


////////////////////////////////////////////////////////////////////////////////
// Hardware In the Loop Simulation
// Only set this to 1 for testing in the simulator.  Do not try to fly with this set to 1!
// See the MatrixPilot wiki for more info on using HILSIM.
#define HILSIM 								1


////////////////////////////////////////////////////////////////////////////////
// Flight Plan handling
//
// You can define your flightplan either using the UDB Waypoints format, or using UDB Logo
// Set this to either FP_WAYPOINTS or FP_LOGO
// The Waypoint definitions and options are located in the waypoints.h file.
// The Logo flight plan definitions and options are located in the flightplan-logo.h file.
#define FLIGHT_PLAN_TYPE					FP_WAYPOINTS
//#define FLIGHT_PLAN_TYPE					FP_LOGO

// Set this to 1 if you want the UAV Dev Board to fly your plane without a radio transmitter or
// receiver. (Totally autonomous.)  This is just meant for debugging.  It is not recommended that
// you actually use this since there is no automatic landing code yet, and you'd have no manual
// control to fall back on if things go wrong.  It may not even be legal in your area.
#define NORADIO								0

////////////////////////////////////////////////////////////////////////////////
// Debugging defines

// The following can be used to do a ground check of stabilization without a GPS.
// If you define TestGains, stabilization functions
// will be enabled, even without GPS or Tx turned on. (Tx is optional)
// #define TestGains						// uncomment this line if you want to test your gains without using GPS

// Set this to 1 to calculate and print out free stack space
#define RECORD_FREE_STACK_SPACE 			0

